#ifndef _STAND_H
#define _STAND_H
#include "main.h"
  

int balance(float Angle,float Gyro);
int Mean_Filter(int moto1,int moto2);
int velocity(int motor_left,int motor_right);
int turn(int encoder_left,int encoder_right,float gyro);

void Set_Pwm(int moto1,int moto2);
void Xianfu_Pwm(void);
int myabs(int a);
u8 Turn_Off(float angle);


#endif	

